In this paper, closed loop nonlinear control of a shape memory alloy (SMA) actuated flexible needle is presented. Merits of different modalities of sensory feedbacks are studied. | Journal of Automation and Control Engineering Vol. 3, No. 5, October 2015 Control of Shape Memory Alloy Actuated Flexible Needle Using Multimodal Sensory Feedbacks Felix Orlando Maria Joseph Department of Radiation Oncology, Case Western Reserve University, Cleveland, Ohio, USA Email: fom@ Madhukar Kumar and Karly Franz Department of Engineering, Case Western Reserve University, Cleveland, Ohio, USA Email: {mxk602, ksf025}@ Bardia Konh and Parsaoran Hutapea Department of Mechanical Engineering, Temple University, Philadelphia, PA, USA Email: {konh, hutapea}@ Yan-Jiang Zhao, Adam P. Dicker, and Yan Yu Department of Radiation Oncology, Thomas Jefferson University, Philadelphia, PA, USA Email: {, }@ Tarun K. Podder Department of Radiation Oncology, University Hospitals, Case Western Reserve University, Cleveland, Ohio, USA Email: txp172@ considerable interest in developing SMA actuators has stemmed from their inherent advantages in producing large elastic deformations, having high power-to-weight ratio and requiring low driving voltages. These advantages coupled with the biocompatibility that the alloys exhibit makes them good candidates for medical applications where the surgical workspace is limited. Applications of SMA actuators in the biomedical engineering field include: smart needle [1]-[5], active catheters [6], and artificial muscles for prosthesis. In addition, SMA actuators have found applications in robotics such as in the areas of vibration control and active control of space structures because of their highpower to weight ratio. SMAs demonstrate a hysteresis characteristic as they are coerced from heating to cooling phases and vice versa, calling for more intricate control strategies that take this phenomenon into consideration. Hence, control accuracy is challenging. In percutaneous interventions, accurate placement of the needle to the desired target is very important. .
